Five pier specimens were tested under low-cyclic reversed loading conditions to study the seismic behavior of concrete-filled steel tube (CFST) composite piers. The effects of axial compression ratio, stirrup ratio, longitudinal reinforcement ratio and shear span ratio on skeleton curve, load capacity, displacement ductility, stiffness degradation and energy dissipation capacity of the specimens were discussed. A finite element model was established to simulate the hysteretic behaviors of CFST composite piers under lateral repeated loads. The numerical results agreed well with the measured values. The finite element model was used to expand the range of structural parameters, and the influence of various structural parameters on the seismic behavior of composite piers was further analyzed. The test and numerical simulation results show that the lateral displacement stiffness and the bearing capacity of the composite pier increase with the increase of axial compression ratio, whereas the displacement ductility and the energy dissipation capacity deteriorate. Increasing the stirrup ratio or the longitudinal reinforcement ratio will improve the seismic performance of the composite pier. Shear span ratio is an important factor influencing the specimen failure mode. As the shear span ratio increases, the lateral bearing capacity and the lateral displacement stiffness of the specimen decrease, but the deformation and the energy dissipation capacity increase obviously.